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Anti lock braking system (ABS) is one of the most important safety devises in vehicles during the severe braking. In this system, by regulating the wheel longitudinal slip at its optimum value, the maximum braking force is generated and therefore the minimum stopping distance for the vehicle is achieved. The hard nonlinearity due to the saturation of tire forces and modeling uncertainties are the main difficulties arising in the design of ABS. Also, the system states including the longitudinal speed and the wheel slip are not directly measurable and have to be estimated. In this paper, a nonlinear optimization based controller is analytically designed for ABS and is combined with a nonlinear estimator based on Unscented Kalman Filter (UKF). This estimation algorithm directly uses nonlinear equations of the system and does not require the linearization and differentiation. Here, the performance of the designed controller in the presence of states estimation and parametric uncertainties is analytically investigated. The simulation results indicate the efficiency of the proposed controller in tracking the optimal longitudinal wheel slip.

Keywords: Anti lock braking system (ABS), Nonlinear controller, Nonlinear estimator, optimization, tire longitudinal slip

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